Non-Linear Lumped-Parameter Modeling of Planar Multi-Link Manipulators with Highly Flexible Arms
The problem of the trajectory-tracking and vibration control of highly flexible planar multi-links robot arms is investigated. We discretize the links according to the Hencky bar-chain model, which is an application of the lumped parameters techniques. In this approach, each link is considered as a...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-09-01
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| Series: | Robotics |
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| Online Access: | http://www.mdpi.com/2218-6581/7/4/60 |
| _version_ | 1798041822327472128 |
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| author | Ivan Giorgio Dionisio Del Vescovo |
| author_facet | Ivan Giorgio Dionisio Del Vescovo |
| author_sort | Ivan Giorgio |
| collection | DOAJ |
| description | The problem of the trajectory-tracking and vibration control of highly flexible planar multi-links robot arms is investigated. We discretize the links according to the Hencky bar-chain model, which is an application of the lumped parameters techniques. In this approach, each link is considered as a kinematic chain of rigid bodies, and suitable springs are added in order to model bending resistance. The control strategy employed is based on an optimal input pre-shaping and a feedback of the joint angles to treat the effects of undesired disturbances. Some numerical examples are given to show the potentialities of the proposed control, and a comparison with a standard collocated Proportional-Derivative (PD) control strategy is performed. In particular, we study the cases of a linear and a parabolic trajectory with a polynomial time law chosen to minimize the onset of possible vibrations. |
| first_indexed | 2024-04-11T22:26:57Z |
| format | Article |
| id | doaj.art-e20e21ab44b049d5842d0f398577d147 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-11T22:26:57Z |
| publishDate | 2018-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-e20e21ab44b049d5842d0f398577d1472022-12-22T03:59:38ZengMDPI AGRobotics2218-65812018-09-01746010.3390/robotics7040060robotics7040060Non-Linear Lumped-Parameter Modeling of Planar Multi-Link Manipulators with Highly Flexible ArmsIvan Giorgio0Dionisio Del Vescovo1Department of Mechanical and Aerospace Engineering, SAPIENZA Università di Roma, via Eudossiana 18, 00184 Rome, ItalyDepartment of Mechanical and Aerospace Engineering, SAPIENZA Università di Roma, via Eudossiana 18, 00184 Rome, ItalyThe problem of the trajectory-tracking and vibration control of highly flexible planar multi-links robot arms is investigated. We discretize the links according to the Hencky bar-chain model, which is an application of the lumped parameters techniques. In this approach, each link is considered as a kinematic chain of rigid bodies, and suitable springs are added in order to model bending resistance. The control strategy employed is based on an optimal input pre-shaping and a feedback of the joint angles to treat the effects of undesired disturbances. Some numerical examples are given to show the potentialities of the proposed control, and a comparison with a standard collocated Proportional-Derivative (PD) control strategy is performed. In particular, we study the cases of a linear and a parabolic trajectory with a polynomial time law chosen to minimize the onset of possible vibrations.http://www.mdpi.com/2218-6581/7/4/60nonlinear flexible beamsdiscrete modelingunderactuated robotsoptimal preshaping input |
| spellingShingle | Ivan Giorgio Dionisio Del Vescovo Non-Linear Lumped-Parameter Modeling of Planar Multi-Link Manipulators with Highly Flexible Arms Robotics nonlinear flexible beams discrete modeling underactuated robots optimal preshaping input |
| title | Non-Linear Lumped-Parameter Modeling of Planar Multi-Link Manipulators with Highly Flexible Arms |
| title_full | Non-Linear Lumped-Parameter Modeling of Planar Multi-Link Manipulators with Highly Flexible Arms |
| title_fullStr | Non-Linear Lumped-Parameter Modeling of Planar Multi-Link Manipulators with Highly Flexible Arms |
| title_full_unstemmed | Non-Linear Lumped-Parameter Modeling of Planar Multi-Link Manipulators with Highly Flexible Arms |
| title_short | Non-Linear Lumped-Parameter Modeling of Planar Multi-Link Manipulators with Highly Flexible Arms |
| title_sort | non linear lumped parameter modeling of planar multi link manipulators with highly flexible arms |
| topic | nonlinear flexible beams discrete modeling underactuated robots optimal preshaping input |
| url | http://www.mdpi.com/2218-6581/7/4/60 |
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